EP2277671B1 - Procédé et dispositif de changement de fraises sur un robot industriel - Google Patents

Procédé et dispositif de changement de fraises sur un robot industriel Download PDF

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Publication number
EP2277671B1
EP2277671B1 EP10004472A EP10004472A EP2277671B1 EP 2277671 B1 EP2277671 B1 EP 2277671B1 EP 10004472 A EP10004472 A EP 10004472A EP 10004472 A EP10004472 A EP 10004472A EP 2277671 B1 EP2277671 B1 EP 2277671B1
Authority
EP
European Patent Office
Prior art keywords
magazine
cone point
cone
conical
robot arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP10004472A
Other languages
German (de)
English (en)
Other versions
EP2277671A1 (fr
Inventor
Richard Kraiss
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Georg Prinzing GmbH and Co KG
Original Assignee
Georg Prinzing GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Georg Prinzing GmbH and Co KG filed Critical Georg Prinzing GmbH and Co KG
Publication of EP2277671A1 publication Critical patent/EP2277671A1/fr
Application granted granted Critical
Publication of EP2277671B1 publication Critical patent/EP2277671B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers

Definitions

  • the invention relates to a method for changing cutters on an industrial robot.
  • Industrial robots are used in industry in many ways. For example, for handling parts, for welding, for painting and lately also for machining workpieces of all kinds.
  • machining tool milling cutters are used for this purpose. Since different cutters are required for the same workpiece, it is necessary that the cutters be changed automatically. There are corresponding change devices for this purpose.
  • the centering takes place during the coupling process via a non-self-locking cone.
  • a lock is present, which contracts the conical connection.
  • additional centering pins or cams are provided, which ensures a precise angular position of the couplable parts.
  • the known devices are complicated and therefore expensive to manufacture.
  • high demands are placed on the environment to prevent contamination of the tool change systems. Even with very little dirt, the function of these known tool changes is no longer given.
  • document JP 2006 015 429 discloses a method and an apparatus according to the preamble of claims 1 and 7.
  • the invention is based on the object to provide a method of the type mentioned above, which makes it possible that the drive motor of the milling cutter does not need to be changed, but only the cutter, that the tool change takes place at any angular position, and that after the rotary drive from Robot must be controlled from no additional locking functions, as the removal of the milling cutter is performed by an external force.
  • the method and the associated device is very simple in construction and one hundred percent reliable. Contamination is largely prevented by the arrangement of the changing device and the magazine. In addition, the connection is not sensitive to low dust pollution.
  • the invention further relates to a device for changing cutters on industrial robots.
  • the cutter magazine is arranged stationary. Whereby the tapered holes of the milling cutters are open at the bottom and at the top, so that it is not possible to contaminate the tapered holes.
  • the coupling of the self-locking conical connection is made by the power of the industrial robot in any angular adjustment of the rotary drive.
  • the robot is loosened and uncoupled hydraulically by pushing out the taper with a small stroke.
  • the fully automatic milling change device is very simple in construction and therefore inexpensive. The functionality is extremely simple, so that a trouble-free uncomplicated automatic operation is guaranteed.
  • an industrial robot (7) which is not further shown in the figures, has a plurality of electrically operated axes.
  • On the last pivot axis (1) of the industrial robot (7) is the axis of rotation (3) for the cutter.
  • On this axis of rotation (3) of the taper (4) is arranged.
  • the robot arm (2) moves the milling cutter (5) with the collar (12) approximately horizontally into the groove (11).
  • the taper (4) is released by a force emanating from the magazine (6) and the robot arm (2) can take over the next cutter (5).
  • the taper (4) from the conical bore (8) is driven downwards. This means that the conical bore (8) is open at the bottom and thus can not be contaminated by falling dust and dirt.
  • the rotary drive (3) and thus the cutter (5) is driven electrically and / or hydraulically.
  • the robot (7) already has an electric drive (3) on the pivot axis (1), which can be operated in rotation. With this electric drive (3) can be operated directly the cutter.
  • the transfer of the cutter (5) in the magazine (6) takes place horizontally, so that a positive connection between the cutter (5) and the magazine (6) is formed and thus the taper (4) can be pushed down. This is an uncomplicated process and no other holding functions for the cutter (5) in the magazine (6) are required.
  • the conical connection is self-locking. This means that by pressing the tapered pin (4) into the conical bore (8), the force of the robot arm (2) is sufficient to achieve a firm connection.
  • additional hydraulic cylinders can be arranged on the magazine (6), which still support the impressions hydraulically, so that an absolutely tight fit is created. These additional hydraulic cylinders are arranged opposite the current hydraulic cylinder (13) and press on the opposite annular surface of annular surface (14).
  • the cutter (5) with collar (11) and tapered bore (8) is rotationally symmetrical, so that when changing no rotational angle position must be considered.
  • the magazine (6) for each cutter (5) has a groove (11).
  • the cutters (5) are pushed horizontally into the groove (11) with their collar (12) with a corresponding clearance fit and are then mounted with exact position in the magazine (6).
  • the Abdschreibvoroplastyen (10) of hydraulic Abdrückzylindern (13) is formed.
  • the hydraulic cylinders (13) apply a very high force so that the cutters (5) are safely separated from the taper (4).
  • the stroke of the Abdschreibzylinder (13) is very low, so that only a release of the conical connection occurs and no great pressure on the robot arm (2) is formed.
  • two Abdschreibzylinder (13) are present, so that a symmetrical impressions is given.
  • the magazine (6) is arranged stationary and the robot arm (2) the cone pin (4) in the stationary held conical bore (8) presses with force and the taper of the cone (4,8) is selected in that a force and / or frictional connection arises.
  • the conical connection is designed so that no additional drivers are required, but only by the contact surfaces of the cone creates a solid and reliable connection.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Milling Processes (AREA)
  • Electric Cable Installation (AREA)

Claims (11)

  1. Procédé de changement de fraises sur un robot industriel, dans lequel au moins un entraînement rotatif (3) se situe sur l'axe de pivotement (1) du bras de robot (2), sur lequel un tenon conique (4) est fixé de manière centrée, et au moins deux fraises (5) sont présentes et un magasin (6) est présent, et le tenon conique (4) est pressé dans le perçage conique (8) de la fraise (5) pour le couplage du bras de robot (2) à la fraise (5), caractérisé en ce que le tenon conique (4) et le perçage conique (8) sont éjectés pour le découplage par une force externe (9) qui part du magasin (6).
  2. Procédé selon la revendication 1, caractérisé en ce que le tenon conique (4) est détaché du perçage conique (8) et le bras de robot (2) déplace ensuite le tenon conique (4) vers le bas.
  3. Procédé selon l'une quelconque des revendications 1 et 2, caractérisé en ce que l'entraînement rotatif (3) est entraîné par voie électrique et/ou hydraulique et le couplage est effectué dans chaque position d'angle de rotation du tenon conique (4).
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la fraise (5) est remise dans le magasin (6) par un mouvement à peu près horizontal et le tenon conique (4) est déplacé hors du perçage conique (8) à peu près verticalement vers le bas.
  5. Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que la liaison conique est autobloquante (cône Morse) et le bras de robot (2) est déplacé au début du processus de fraisage de sorte que le tenon conique et le perçage conique soient pressés ensemble.
  6. Procédé selon l'une quelconque des revendications 1 à 5, caractérisé en ce que la fraise (5) et les parties tournant avec la fraise (5) présentent une symétrie de rotation.
  7. Dispositif de changement de fraises (5) sur un robot industriel (7), en particulier pour la réalisation du procédé selon l'une quelconque des revendications 1 à 9, sachant qu'un entraînement rotatif (3) électrique et/ou hydraulique est disposé sur l'axe de pivotement (1) du bras de robot (2) et un tenon conique (4) est fixé dessus de manière symétrique en rotation et au moins deux fraises (5) avec des perçages coniques (8) adaptés sont présentes et un magasin (6) est présent pour les fraises (5), caractérisé en ce que des dispositifs d'éjection (10) sont disposés sur le magasin (6).
  8. Dispositif selon la revendication 7, caractérisé en ce que le magasin présente au moins une rainure (11) et la fraise (5) présente un collet (12) et le collet (12) s'adapte avec du jeu dans la rainure (11).
  9. Dispositif selon la revendication 7 ou 8, caractérisé en ce que le magasin (6) présente des cylindres d'éjection hydrauliques (13) qui pressent lors de la sortie sur la surface annulaire (14) et la course des cylindres d'éjection (13) est très faible.
  10. Dispositif selon l'une quelconque des revendications 7 à 9, caractérisé en ce que le magasin (6) est disposé de manière stationnaire et le bras de robot (2) presse le tenon conique (4) dans le perçage conique (5) avec force et en ce que le rétrécissement conique est choisi de sorte qu'une force et/ou une liaison par friction apparaisse.
  11. Dispositif selon l'une quelconque des revendications 7 à 10, caractérisé en ce que les perçages coniques (8) et le tenon conique (4) présentent une symétrie de rotation et le contact n'existe que sur les surfaces coniques lors du couplage et aucun entraîneur supplémentaire n'est présent, lequel empêcherait la rotation du tenon conique (4) dans le perçage conique (5).
EP10004472A 2009-07-21 2010-04-28 Procédé et dispositif de changement de fraises sur un robot industriel Not-in-force EP2277671B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102009034275A DE102009034275A1 (de) 2009-07-21 2009-07-21 Verfahren und Vorrichtung zum Wechseln von Fräsern an einem Industrieroboter

Publications (2)

Publication Number Publication Date
EP2277671A1 EP2277671A1 (fr) 2011-01-26
EP2277671B1 true EP2277671B1 (fr) 2011-09-28

Family

ID=43003384

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10004472A Not-in-force EP2277671B1 (fr) 2009-07-21 2010-04-28 Procédé et dispositif de changement de fraises sur un robot industriel

Country Status (3)

Country Link
EP (1) EP2277671B1 (fr)
AT (1) ATE526122T1 (fr)
DE (1) DE102009034275A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202011052430U1 (de) * 2011-12-22 2013-03-25 Kuka Systems Gmbh Werkzeugwechselsystem
CN107552834B (zh) * 2017-10-23 2024-02-20 浙江昊光电子科技有限公司 一种照明设备制作的捕捉组件
DE102018004120A1 (de) * 2018-05-23 2019-11-28 Psa Automobiles Sa Vorrichtung und Verfahren zur automatisierten Bearbeitung eines Werkstücks, insbesondere aus einem Guss- oder Werkzeugstahl, Anordnung mit einem Roboterarm und mit der Vorrichtung und deren Verwendung und Verfahren zur Bearbeitung des Werkstücks
EP3969234A1 (fr) * 2019-05-15 2022-03-23 Abb Schweiz Ag Système de changement d'outil, robot industriel et procédé de manipulation d'outil par un robot industriel
SE544796C2 (sv) * 2020-02-25 2022-11-15 Brokk Ab Fjärrstyrbar demoleringsrobot med ett sågvektyg samt förfarande för fjärrstyrbart automatiskt utbyte av sågklinga på sågverktyget
CN112895460B (zh) * 2021-01-19 2022-12-20 上海电气集团股份有限公司 夹具制备方法、装置、电子设备和存储介质

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3432262A1 (de) * 1983-11-01 1985-05-09 Netstal-Maschinen AG, Näfels Handlingeinrichtung an einer kunststoffspritzgiessmaschine
GB2232956B (en) * 1987-02-10 1991-07-10 Wiederaufarbeitung Von Kernbre A device magazine for holding bottom parts of a coupling device for changing working stock on the block of a hoist
JPH06190616A (ja) * 1992-12-24 1994-07-12 Meidensha Corp ターニングセンタの爪交換装置とロボットハンド
FR2863519B1 (fr) * 2003-12-11 2006-01-21 Snecma Moteurs Dispositif de montage et de demontage automatiques d'outils sur un automate
JP4135102B2 (ja) * 2004-06-30 2008-08-20 ニッタ株式会社 自動工具交換装置

Also Published As

Publication number Publication date
EP2277671A1 (fr) 2011-01-26
DE102009034275A1 (de) 2011-01-27
ATE526122T1 (de) 2011-10-15

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